fix(velodyne): reset pointcloud correctly, including width and height…

… fields (#216) Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>
tier4 · Nov 5, 2024 · 24ace12 · 24ace12
1 parent a908f61
commit 24ace12
Showing 3 changed files with 3 additions and 5 deletions.
diff --git a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp
@@ -85,7 +85,7 @@ int Vlp16Decoder::points_per_packet()
 
 void Vlp16Decoder::reset_pointcloud(double time_stamp)
 {
-  scan_pc_->points.clear();
+  scan_pc_->clear();
   reset_overflow(time_stamp);  // transfer existing overflow points to the cleared pointcloud
 }
 

diff --git a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp
@@ -83,8 +83,7 @@ int Vlp32Decoder::points_per_packet()
 
 void Vlp32Decoder::reset_pointcloud(double time_stamp)
 {
-  //  scan_pc_.reset(new NebulaPointCloud);
-  scan_pc_->points.clear();
+  scan_pc_->clear();
   reset_overflow(time_stamp);  // transfer existing overflow points to the cleared pointcloud
 }
 

diff --git a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp
@@ -86,8 +86,7 @@ int Vls128Decoder::points_per_packet()
 
 void Vls128Decoder::reset_pointcloud(double time_stamp)
 {
-  //  scan_pc_.reset(new NebulaPointCloud);
-  scan_pc_->points.clear();
+  scan_pc_->clear();
   reset_overflow(time_stamp);  // transfer existing overflow points to the cleared pointcloud
 }